Genesis 47:29-31

29As the time of Israel’s death drew near, he called for his son Joseph and said to him, “If I have found favor in your eyes, please put your hand under my thigh and show me faithful kindness. Please do not bury me in Egypt.

30When I lie down with my fathers, you must carry me out of Egypt and bury me in their burial place.” So he said, “I myself will do according to your word.”

31“Swear to me,” he said. So he swore to him. Then Israel bowed down in worship on the head of his staff.